CN110869940A

CN110869940A - Method for controlling pixel headlights of motor vehicle located on traffic lane

Info

Publication number: CN110869940A
Application number: CN201880044831.5A
Authority: CN
Inventors: J·诺伊卡姆
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2017-07-05
Filing date: 2018-07-04
Publication date: 2020-03-06
Anticipated expiration: 2038-07-04
Also published as: US20210162913A1; CN110869940B; WO2019008045A3; DE102017211430A1; WO2019008045A2; EP3610411A2; DE102017211430B4; US11932163B2

Abstract

The invention relates to a method for controlling pixel headlights of a motor vehicle located on a traffic lane, wherein: -the pixel headlights (10, 12) output light (40) as a function of a control signal representing the image sequence (14), wherein the respective individual image (20, 22) of the image sequence (14) corresponds to the respective light distribution currently to be provided by the pixel headlights (10, 12), -detecting the traffic lane by means of a vehicle camera, and-evaluating the camera data and providing the control signal as a function of the indicative traffic lane facility obtained, wherein-the image sequence (14) is provided at an image sequence frequency of more than approximately 24Hz, and the image sequence comprises at least one reference map (16) for uniformly illuminating the traffic lane, -synchronizing the vehicle camera with respect to the reference map (16), -the indicative traffic lane facility and information data relating to the indicative traffic lane facility are obtained from the provided camera data (16), -comparing the relevant information data with data of a database, and-obtaining a control signal based on the comparison.

Description

Method for controlling pixel headlights of motor vehicle located on traffic lane

Technical Field

The invention relates to a method for controlling pixel headlights of a motor vehicle located on a traffic lane, wherein the pixel headlights output light as a function of a control signal representing a sequence of images for at least partially illuminating the traffic lane, wherein respective individual images of the sequence of images correspond to respective light distributions to be currently provided by the pixel headlights, the illuminated traffic lane is detected by means of a vehicle camera providing respective camera data, and the camera data is evaluated in order to obtain at least one indicative traffic lane facility and a control signal for controlling the pixel headlights is provided as a function of the obtained indicative traffic lane facility. The invention also relates to a control device for controlling a pixel headlight of a motor vehicle located on a traffic lane, comprising: a control signal unit, which is designed to provide a control signal representing a sequence of images for illuminating pixel headlights of a traffic lane of the motor vehicle, such that the pixel headlights output light for illuminating the traffic lane at least in regions, wherein a respective individual image of the sequence of images corresponds to a respective light distribution to be currently provided by the pixel headlights; a receiving unit for receiving camera data of a vehicle camera that detects an illuminated traffic lane and provides the camera data; and an evaluation unit coupled to the control signal unit and the receiving unit for evaluating the camera data to obtain at least one indicative lane facility, so that the control signal unit provides a control signal depending on the obtained indicative lane facility. Finally, the invention also relates to a motor vehicle having a vehicle camera, a pixel headlight and a control device for controlling the pixel headlight.

Background

Methods for illuminating the vehicle surroundings of a motor vehicle, control devices for controlling pixel headlights of a motor vehicle, and motor vehicles of this type are widely known from the prior art. The motor vehicle has a headlight, in particular a motor vehicle headlight, by means of which the vehicle environment of the motor vehicle, in particular the traffic lane in which the motor vehicle is located, can be illuminated. The light serves, on the one hand, to achieve good visibility of the motor vehicle for other traffic participants in unfavorable visibility, in particular in the dark, and, on the other hand, to achieve illumination of the traffic lane or the roadway, in particular, to achieve safe driving of the motor vehicle on the traffic lane for the driver of the motor vehicle. Furthermore, the lighting provided by means of the motor vehicle is regulated by legislation and standards.

Motor vehicles of this type are vehicles which can be driven by means of a drive device in a defined manner. The drive means may be a drive means comprising an internal combustion engine or an electric motor. Of course, a combination thereof may be provided. Preferably, the motor vehicle is an automobile, in particular a passenger car.

Modern motor vehicles have one or more pixel headlights, by means of which a light distribution for illuminating the surroundings of the vehicle, in particular the traffic lane, can be provided in a very flexible manner. For example, a predetermined light distribution can be generated and provided, which illuminates, for example, the lane of the roadway on which the motor vehicle is driving. However, the surroundings of other motor vehicles can also be illuminated by means of a pixel headlight.

A pixel headlight is a headlight which, depending on its construction, can provide a light distribution in a very flexible manner. For this purpose, the pixel headlight can be constructed, for example, on the basis of light-emitting diodes, which are arranged in a matrix in the headlight. Depending on the light distribution to be provided, which can be preset by means of a control signal, the light-emitting diodes can be supplied with electrical energy by means of a headlight control in order to emit corresponding light. In addition, the laser headlight can also be configured as a pixel headlight which has a converter material which emits converted light when it is acted upon by laser light. By a corresponding application of the conversion material at different points with possibly different light intensities of the laser light, an almost arbitrary light distribution can be achieved. Of course, corresponding combinations of such headlight solutions can also be provided.

Furthermore, modern motor vehicles comprise a vehicle camera, for example, in order to enable automatic driving and/or to provide the driver assistance system with the required data. In combination with the pixel headlight, for example, an oncoming object, in particular an oncoming motor vehicle, can be detected and the light distribution provided by the pixel headlight can be adapted accordingly in order to minimize dazzling of the respective detected object.

For example, patent document DE 102014000935 a1 discloses a method and a device for producing a lane light display for a vehicle. In this case, the information that can be projected onto the surface of the driver for the vehicle should be able to be formed as distortion-free as possible.

Furthermore, DE 102011081396 a1 discloses a method and a control unit for adapting the radiation characteristic of a headlight. The object to be highlighted is acquired and the radiation characteristic of the headlight is adjusted in such a way that the object is illuminated in a highlighted manner by means of the headlight.

Furthermore, DE 102015207543 a1 discloses a device and a method for controlling a motor vehicle headlight of a motor vehicle, wherein the illumination of the traffic lane is to be adapted automatically in order not to dazzle the oncoming traffic participants.

Furthermore, DE 102012003158 a1 discloses a method and a device for projecting a laser image into the environment surrounding a vehicle.

Finally, DE 102010029194B 4 discloses a control unit for checking a test value, which is the illumination width of a light cone of a vehicle headlight.

Although the prior art has proven advantageous, there is still a need for improvement.

Modern headlights in vehicles are designed as pixel headlights and illuminate the area in front of the vehicle. In addition to more complex technologies, such as matrix lighting, special functions that can be switched off and on, such as fog lights and the like, are also prior art. Furthermore, it is already known to plan and develop high-resolution headlights, which allow high precision, matrix functionality and projection of patterns on the roadway. In addition to the emerging pedestrians, lines representing the width of the vehicle and projections for possible braking paths are also mentioned. In this case, the headlights or headlight control unit are controlled by means of the control signals, taking into account data of the vehicle, such as the steering angle, the speed and fixedly programmed values (e.g. vehicle width and/or the like).

On current roads, a variety of markers are applied to the lanes to guide and control traffic.

In addition to the matrix function, the markings projected onto the roadway by means of the high-resolution headlight are static. A vehicle camera can be used to ensure a correct representation, but all functions are additionally markings that gradually appear in a visually visible manner to the driver of the motor vehicle. If the marking has already been applied fixedly on the lane, the projected marking overlaps the fixedly present marking.

Here, a directional arrow pointing leftward on the lane is taken as an example. If a left turn is no longer possible due to, for example, a construction site, the additional marking may indicate this. I.e. for example the navigation device just may know and also indicate forwards a direction indication which may be indicated by the headlights being lit gradually. However, the projected marks are superimposed by marks printed on the lane. This can lead to confusion for the driver who has to coordinate the markings fixedly applied to the traffic lane in memory with the projected markings of the navigation device.

Disclosure of Invention

It is therefore an object of the invention to improve the projection of a marking.

As a solution, the invention provides a method, a control device and a motor vehicle according to the independent claims.

Further advantageous embodiments result from the features of the dependent claims.

In a method of this type, provision is made, in particular, for the image sequence to be provided at an image sequence frequency of more than about 24Hz, preferably more than about 90Hz, particularly preferably more than about 100Hz, wherein the image sequence comprises at least one reference image for uniformly illuminating the traffic lane, for the vehicle cameras for detecting the traffic lane to be synchronized with respect to the reference image, for at least one indicative traffic lane facility and information data relating to the indicative traffic lane facility to be obtained from the provided camera data with respect to the reference image, for the relevant information data to be compared with the data of the database, and for a control signal to be obtained as a function of the comparison.

In a control device of this type, it is proposed, in particular, that the control signal unit is also designed to provide an image sequence at an image sequence frequency of more than about 24Hz, preferably more than about 90Hz, particularly preferably more than 100Hz, wherein the image sequence comprises at least one reference map for uniformly illuminating the traffic lane, the vehicle camera for detecting the traffic lane is synchronized with respect to the reference map, the evaluation unit is designed to derive at least one indicative traffic lane facility and information data relating to the indicative traffic lane facility from the provided camera data with respect to the reference map and to compare the relevant information data with the data of the database, and the control signal unit is designed to derive the control signal as a function of the comparison.

In particular, it is proposed in the motor vehicle sector to design the control device according to the invention.

The invention is based on the idea of making it possible for a vehicle camera to reliably detect a traffic lane, in particular an indicative traffic lane facility of the traffic lane, by uniformly illuminating the vehicle environment at a predefined illumination level. The uniform light is selected such that it does not interfere as far as possible with other traffic participants. For this purpose, the invention provides that, by means of a reference image of an existing image which is inserted into the image sequence or which replaces the image sequence, a uniform illumination is provided over a short period of time, wherein the period of time is selected such that, in particular, the human eye does not perceive a significant disturbance. This is achieved in the present invention by selecting the image sequence frequency to be correspondingly high, so that inertia can be used to avoid or reduce disturbances to other traffic participants, in particular persons, for example drivers of other motor vehicles, when detecting light.

In order to detect the vehicle environment during the active reference map, the vehicle cameras are synchronized accordingly. For this purpose, it can be provided that the vehicle camera has its own sensor, which can obtain a reference image. However, it is also possible to provide a separate camera control signal, by means of which information about when to control the pixel headlights according to the reference map is transmitted for the vehicle image. Finally, it is also possible to provide a sequence of images according to the form of a video sequence, to synchronize the detection with the video sequence, wherein the synchronization with respect to the reference map can also be effected automatically by synchronizing the detection with the video sequence.

The vehicle camera may be, for example, a video camera, a still camera, and/or the like. Preferably, the vehicle camera has an electronic, in particular digital, recording unit, so that camera data, preferably digital data, can be provided corresponding to the detected vehicle environment.

The pixel headlight is a headlight/headlight with a plurality of individually or individually controllable pixels arranged in a matrix, which can be actuated in a suitable manner in order to adjust the light output of the pixel headlight in accordance with the respective current image of the image sequence in accordance with a control signal. The pixels of the pixel headlight are thus preferably substantially point-like light sources. The light source may be formed, for example, by a light-emitting diode, but also substantially by a gas discharge tube, a bulb and/or the like. The light sources can also be combined to form a matrix which can also comprise headlight controls, by means of which the individual light sources can be controlled in a corresponding manner as a function of the control signals. Furthermore, the pixel headlight may also comprise a laser light source in the form of a correspondingly controlled laser scanner, which provides a light distribution in dependence on the control signal. Furthermore, the pixel headlight may of course also comprise other optically active elements which can be matched in a desired manner to the light of the pixel headlight emitted by the individual light sources in order to output light depending on the light distribution, for example refractive elements, such as lenses, prisms and/or the like, reflective elements, such as mirrors, in particular micromirrors, DMDs (digital mirror devices), combinations thereof and/or the like.

The vehicle environment includes at least a portion of an area proximate the vehicle, which may be defined, for example, by a driver's field of view width. Preferably, the vehicle environment includes a traffic lane, however, the traffic lane may also simply be the lane on which the motor vehicle is traveling, or an opposing lane beside the lane, a lane edge, a traffic sign associated with the traffic lane, a combination thereof, or the like. Partial regions of the vehicle path may also be detected.

With the pixel headlight, the traffic lane can be illuminated at least partially, preferably in an area into which the motor vehicle is driven during the intended driving. The pixel headlight is thereby used to illuminate the vehicle path at least locally. However, the motor vehicle is required not only to have a single pixel headlight, but also to have two or more pixel headlights which can be controlled together in a suitable manner, for example by means of a control signal for controlling more than just one single pixel headlight, or also by means of a separate control signal for each individual headlight of a plurality of pixel headlights. Preferably, the pixel headlight is a high-resolution headlight, which may for example comprise millions or more pixel points.

The control signal itself can be provided by a control signal unit and is preferably an electrical signal, in particular configured as a digital signal. The control signal represents a sequence of images in the form of a video sequence which is used to control the pixel head lamps accordingly. By means of the pixel headlight, the respective image of the image sequence currently provided by means of the control signal is preferably used for controlling the light source of the pixel headlight. The pixel lamp is therefore designed to output light in the form of a projector, in particular a video projector.

At least the illuminated vehicle path is detected by means of a vehicle camera. According to one embodiment, it can also be provided that the vehicle camera detects only a predefined region of the illuminated vehicle path. Preferably, it can be provided that the vehicle camera detects only a part of the illuminated region which is arranged in front of the motor vehicle in the direction of travel during the intended driving. However, it can also be provided that the vehicle camera detects the complete vehicle path. The vehicle camera can be designed as a single structural unit and can be arranged in a suitable position on the motor vehicle. The vehicle camera can also be designed in multiple parts, so that it can detect the vehicle path in different directions, for example in a directionally selective manner, and provide corresponding camera data.

Furthermore, an evaluation unit is provided, which receives camera data of the vehicle camera and evaluates the camera data, for example, taking into account a preset light distribution. Thereby, a control signal for controlling the pixel headlight may be obtained and provided.

The predetermined light distribution is, for example, the light distribution that is to be provided as a theoretical light distribution by means of the pixel headlight. The predetermined light distribution can be provided by a higher-level vehicle control unit, a control element that can be actuated by the driver of the motor vehicle by means of manual actuation, and/or the like. For example, the preset light distribution may represent a high beam, a low beam, and/or the like.

By means of the evaluation unit, the camera data can be evaluated and, for example, oncoming vehicles or other traffic participants can be detected. If other traffic participants are detected, it can be provided that the subsequent images of the image sequence are changed in such a way that the spatial angle at which the other traffic participants are located is illuminated or faded.

The image sequence comprises at least one reference image for uniformly illuminating the vehicle environment. The reference image therefore results in the light source of the pixel headlight being controlled in such a way that it emits light with approximately the same light intensity. It can be provided that the light source is operated to emit a maximum light intensity. The vehicle cameras, which are synchronized with respect to the reference map and detect the vehicle environment synchronously with respect to the reference map, provide corresponding camera data to the evaluation unit. The evaluation unit can then derive from the camera data details which are not visible in the images of the image sequence, for example because the corresponding light in the corresponding region is insufficient or the corresponding region cannot be detected because of overmodulation of the camera data due to excessive light effects. In this way, for example, a roadway area covered by ice or water can be seen. In addition, other vehicle details, such as oncoming or forward-driving motor vehicles, are also available. Furthermore, it is of course also possible to adapt the control signal accordingly by adapting the image following the reference map taking into account the knowledge obtained by the evaluation. This makes it possible, for example, to illuminate the area of the roadway covered by ice or water less, so that the driver of the motor vehicle or other traffic participants is not dazzled as much as possible.

Based on the camera data relative to the reference map, the evaluation unit can search for the camera data, for example by means of an algorithm, based on known objects as indicative roadway facilities, such as parking signs, directional arrows, double lane signs (yellow/white), warning indications and/or speed indications.

For the obtained indicative roadway facility, the evaluation unit obtains information data associated with the respective indicative roadway facility, for example a driving direction specified by a lane marking or the like. The information data determined with respect to the respectively obtained indicative roadway facility are now compared with the data of the database. The database obtains data from the internet, GPS data, data from vehicle cameras, traffic sign assessments, traffic radio, other sensor data, information about vehicle location, and/or the like. Subsequently, a control signal is obtained on the basis of the comparison by means of a control signal unit, which is communicatively coupled to the evaluation unit.

No action is taken when consistent, or indicative roadway facilities are highlighted. In the event of an inconsistency, the images of the image sequence are matched in the specific region, so that the indicative roadway facility, for example a marking on the roadway, is made less visible. It is also possible to actively use other projected markers to "fold up" or invalidate the indicative roadway facility.

The control device thus matches the static, indicative roadway facility of the roadway to the dynamic information and data of the sensor, and thus removes the information difference between the static, indicative roadway facility and the actually present environment. In this case, it has proven to be advantageous to activate the reference map only over a very short period of time, so that the driver of the motor vehicle and other traffic participants are not substantially impeded.

The invention proves to be particularly suitable for subsequent installation in a motor vehicle or in a pixel headlight. Since this type of pixel headlight is already controlled by the control signal according to the video sequence, the invention can be implemented in a simple manner without the need to intervene in the design of the existing solutions. Since the human eye averages the values of the individual reference image with the immediately following 23 images, the other traffic participants are substantially blinded. The invention thus makes it possible for the vehicle camera to capture detailed images of the traffic lane, in particular of the target traffic lane facility, without interfering with other traffic participants. At the same time, the invention makes it possible to reliably detect existing indicative roadway facilities. In particular, the illumination of the lane can be actively controlled such that the vehicle camera recognizes and distinguishes as many objects as possible.

An advantage of the invention is the fact that existing components of the vehicle can be used continuously. The same sensors as the solution proposed here are required for high-resolution headlights or pixel headlights of a driving vehicle for better illuminating the traffic lane and interacting with the traffic participants. Since these modules are manipulated using a video sequence, there is no difficulty in combining a single frame or image with the control pattern. Repeated reversibly defined regions are also achieved by this technique.

The guidance of the driver can be improved, since the information transmitted to the driver by lane vision is again in line with the information obtained by the driver from other sources. Inconsistent terms that may distract or distract the driver are avoided.

Data collected, for example, through existing lane specifications may be used as a data base for a traffic database.

Furthermore, it is proposed that, when the information data differ from the data of the database, the images of the image sequence are acquired in such a way that the display lane facility corresponding to the data of the database can be visually projected by means of the pixel headlight. This makes it possible to reliably perform visual guidance of the vehicle.

It is furthermore proposed that the obtained indicative carriageway facility can be superimposed at least partially visually by the projected indicative carriageway facility. This makes it possible for the obtained indicative roadway system to be visually embedded in the background and less perceptible. Furthermore, the projected indicative roadway facility enters the foreground and therefore a more reliable detection of the actually desired traffic guidance is carried out, in particular for the driver of the motor vehicle but also, if necessary, for the automatic vehicle control.

Preferably, the obtained indicative roadway facility is at least partially embedded in the projected indicative roadway facility. The resulting indicative roadway facility can thus be a component of the projected indicative roadway facility, whereby the visual visibility can be improved even better.

Furthermore, it is proposed that, when the information data differ from the data of the database, the images of the image sequence are acquired in such a way that the acquired indicative roadway facility is at most partially illuminated. Preferably, the image is illuminated only in the area in which the projection is also made according to the projected indicative roadway facility. For example, components of the obtained indicative roadway facility located outside the projected indicative roadway facility are not illuminated or at least are less illuminated. In this way, the components of the traffic lane indicating facility obtained are visually embedded in the background, whereby the visual visibility can likewise be further improved.

Furthermore, it is proposed that at least one overcorrected or undercorrected region of the illuminated roadway be acquired from the camera data. For this purpose, in particular camera data are used which are detected by means of the vehicle camera during the reference map.

It is also proposed that the images of the image sequence following the reference image are acquired from at least one excessively or insufficiently illuminated region. In this embodiment, the images of the image sequence following the reference map are accordingly adapted during the reference map as a function of the evaluation of the camera data in order to improve the light of the traffic lane, in particular of the traffic lane. This makes it possible, by means of the adaptation of the images and thus also after the adaptation of the light output of the pixel headlights, to illuminate very bright areas of the traffic lane which may be particularly dazzling for the driver or the vehicle camera, or areas in which visibility is not suitable due to a lack of light. Of course, the invention need not be limited to a single area, but a plurality of areas with too much or insufficient light can also be obtained simultaneously.

It has furthermore proven to be advantageous if the image sequence comprises reference images repeatedly, wherein successive reference images are spaced apart from one another in time by at least approximately 0.5 seconds, preferably by at least approximately 0.8 seconds. That is, it has been shown that, with such a mutual spacing of the reference map, interference with the driver and/or other traffic participants can be avoided as far as possible, wherein at the same time a reliable functionality according to the invention can be ensured. Alternatively or additionally, it can also be provided that the temporal distance from one another of the reference maps is dependent on the vehicle speed of the motor vehicle. It can therefore be provided that at high vehicle speeds the reference map follows each other at temporally smaller intervals, whereas at low vehicle speeds, for example when scheduled or the like, the temporal intervals can be increased. Furthermore, other vehicle parameters can of course also be taken into account for adjusting the time intervals of successive reference maps. The reference images need not follow each other at equal distances in time, but rather it can be provided that the time intervals of the reference images from each other are variable.

Furthermore, it is proposed that the reference map is provided by means of a reference control signal for controlling the pixel headlights. In this design, a separate control signal, i.e., a reference control signal, is provided to provide the reference map. Thus, there is no need to intervene in the existing image sequence. For this purpose, it can be provided that the pixel headlight has a separate input terminal, to which a reference control signal can be supplied. However, it is also possible to supply the reference control signal to the control signal unit, which then inserts the corresponding reference picture into the image sequence or replaces the existing image by the reference picture. In a similar manner, this function can of course also be provided in the pixel headlight itself.

Preferably, the reference map is provided by means of a pixel headlight over a time period of less than about 0.033 seconds, preferably less than about 0.01 seconds. On the one hand, during this type of time period, the traffic lane can be reliably detected by means of the vehicle camera relative to the reference map, and on the other hand, adverse effects on other traffic participants or the driver of the motor vehicle are avoided as far as possible.

Preferably, the pixel headlights illuminate a lane as a traffic lane. The pixel headlight is thus, for example, a headlight of a motor vehicle. However, the pixel headlight may be a back light or an auxiliary light.

It is also proposed to detect visibility by means of a vehicle camera and to carry out the method as a function of the visibility obtained. This is achieved in this way, in particular, when there is inadequate visibility and, in particular, the line of sight is obstructed by the driver or other traffic participants of the motor vehicle, the method process is started optimally. For example, it can be provided that the vehicle camera is used to detect the ambient brightness or snowfall, and then the corresponding method process is activated. Accordingly, the activation method process can also be cancelled again if an improvement in visibility is obtained by means of the vehicle camera or if the corresponding precondition for activating the method process according to the invention is omitted.

The functions and advantages given for the method according to the invention are equally applicable to the control device according to the invention and to a motor vehicle equipped with a control device according to the invention, and vice versa. In particular, corresponding device features are therefore also associated with and expressed as method features, and vice versa.

The invention also comprises a development of the method according to the invention, which has the same features as have already been described in connection with the development of the motor vehicle according to the invention. For this reason, corresponding modifications of the method according to the invention are not described again here.

Drawings

Embodiments of the present invention are described below. Wherein:

fig. 1 schematically shows a first embodiment of a pixel headlight;

fig. 2 schematically shows a second embodiment of the pixel headlight;

fig. 3 shows a schematic representation of the light output during the operation of the pixel headlight according to fig. 1 or 2 with the reference map;

fig. 4 shows a schematic representation of the light output when the pixel headlight according to fig. 1 or 2 is actuated with one image of the image sequence;

fig. 5 shows a schematic illustration of a part of an image sequence for controlling the pixel headlight according to fig. 1 or 2,

figure 6 schematically shows a schematic view for a first design according to the invention,

figure 7 shows a schematic representation for a second design according to the invention,

FIG. 8 shows a schematic representation for a third design according to the invention, an

Fig. 9 shows a schematic representation for a fourth embodiment according to the invention.

Detailed Description

The examples explained below are preferred embodiments of the present invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention which are to be considered independent of one another, which also each improve the invention independently of one another and which are therefore also to be considered as a constituent part of the invention, individually or in different combinations than those shown. Furthermore, the described embodiments can also be supplemented by other of the features of the invention already described.

In the figures, elements having the same function are provided with the same reference numerals, respectively.

Fig. 1 shows a schematic representation of a first embodiment of a pixel headlight 10 with which the method according to the invention can be carried out. The pixel headlight 10 comprises a light source 28, which may be formed, for example, by a gas discharge tube. Alternatively, a laser light source, a correspondingly bright light-emitting diode, an incandescent lamp or the like can of course also be provided here. The light source 28 emits light 36, which is delivered to the matrix 34. The matrix 34 has individual elements 38 that can be independently switched to be transparent or non-transparent. Thereby, a single pixel of the pixel headlight 10 is provided. In the lower, enlarged view, a schematic top view of the matrix 34 is shown, wherein the individual elements 38 can be seen. In response to a corresponding actuation of the pixel headlight 10 by means of the control signal, the respective element 38 is switched to transparent or opaque, so that a corresponding light pattern or light distribution is provided, according to which light 40 is output. The light output of the light 40 provided when all elements 38 of the matrix 34 are switched to be transparent is shown by 32.

Fig. 2 shows a second embodiment of a pixel headlight 12, with which the invention can be implemented. As with the pixel headlight 10 according to fig. 1, the pixel headlight 12 has a light source 28 which emits light 36. Here, the light 36 is fed to a mirror matrix 42, which is divided into individually controllable individual components. Depending on the maneuver, the light 36 is steered in a direction corresponding to the independent maneuver. Thereby, individual pixels of the pixel headlight 12 are provided by means of the mirror matrix 42. The current arrangement of the mirror matrix 42 is shown enlarged at 48. This setting of the mirror matrix 42 results in the light 36 being partially reflected by the mirror matrix 42 and being output as light 40 with a light distribution according to fig. 48. The light 36 is diverted to the light trap 44 by means of other elements of the mirror matrix 42. Thereby, the pixel headlight 12 gives a light distribution in accordance with the outputted light 40.

Fig. 3 to 5 show a method for illuminating a vehicle environment of a motor vehicle, in which pixel headlights 10, 12 of the motor vehicle, not shown in the figures, output light 40 as a function of a control signal that reflects the image sequence 14 in order to illuminate the vehicle environment at least in places.

The respective individual images 20, 22 (fig. 5) of the image sequence 14 correspond to the respective light distributions to be currently passed through the pixel headlights 10, 12. The illuminated vehicle surroundings are detected by means of a vehicle camera, not shown, which provides corresponding camera data 18 (fig. 4). In fig. 4, an evaluation of the camera data 18 is shown, according to which the camera data 18 detects regions 24 in which the light is too strong and therefore eye selection may occur. Furthermore, from the camera data 18, a region 26 in which the light is insufficient has been obtained. Therefore, the contrast in the

regions

24, 26 may not be sufficiently recognized. Normal illumination in the permissible range is detected in the remaining region 50.

In order to obtain and provide control signals for controlling the pixel headlights 10, 12, the camera data 18 are evaluated by means of an evaluation unit, which is also not shown, taking into account a predetermined light distribution, in this case a high beam.

The image sequence 14 is provided here at an image sequence frequency of about 100Hz (fig. 5). The image sequence 14 comprises a reference image 16 (fig. 3) for uniformly illuminating the vehicle environment. In this case, it is provided that all pixels of the pixel headlights 10, 12 output a maximum brightness.

By synchronizing the vehicle cameras accordingly, the vehicle cameras detect the vehicle environment relative to reference fig. 16. The control of the pixel headlights 10, 12 with reference to fig. 16 results in the camera data 18 being detected by the vehicle camera during the illustration of the reference fig. 16 with the aid of the pixel headlights 10, 12. The camera data 18 thus correspond to the pictures during the illustration of the reference fig. 16 by means of the pixel headlights 10, 12. The camera data 18 is shown, for example, in accordance with fig. 4.

Now, the control signal is obtained by means of the evaluation unit from the camera data 18 detected with respect to the reference fig. 16.

Fig. 5 shows a video sequence or image sequence 14 representing a control signal to enable the manipulation of the pixel headlights 10, 12. The order of the individual images is from left to right in time and from top to bottom.

The first image is formed by referring to fig. 16. During the use for controlling the pixel headlights 10, 12 with reference to fig. 16, the vehicle camera detects the vehicle environment and provides camera data 18 (fig. 4). From the camera data 18, a subsequent image 20 is obtained in which the area 24 is attenuated in light intensity in order to fade or illuminate an oncoming object. The directly successive six images 20 thus control the pixel headlights 10, 12 with respect to the light output for the next six cycles or frames.

By further evaluating the camera data 18, particularly in view of the area 26 (fig. 4), also illuminating or fading the area 52, it is desirable to reduce light in the area 52 to reduce glare due to ice or water. This is achieved by image 22 following image 20. Subsequent images 54 show that the illumination in the

areas

24, 52 is reduced. Thus, in these regions, the pixels are manipulated to partially output light again.

The detail of the image sequence 14 shown in fig. 5 shows a schematic method sequence. In the present embodiment, it is provided that 100

images

16, 20, 22, 52 are provided in succession per second as control signals. Supplementary reference map 16 is provided in the image sequence 14 as necessary. In the present embodiment, it is provided that every thirtieth image is a reference image 16. Of course, the frame rate or time interval with reference to fig. 16 can also be varied as required in order to match the method implementation process to the current requirements in a manner that is possible.

The exemplary embodiments described below for controlling high-resolution headlights (e.g., pixel headlights 10, 12) allow patterns to be generated at very short intervals. Since the human eye averages the luminance of the viewed facets over time, the introduction of a single image that is not recognized by the viewer can be achieved, for example, with reference to fig. 16.

In the present concept, the image repetition frequency is selected such that, by means of the reference fig. 16, a complete image is shown without the driver feeling. This makes it possible, for example, to illuminate the object by means of matrix light column technology and also to illuminate the entire lane of the roadway over a very short period of time.

The vehicle camera is synchronized with the pixel headlights 10, 12 in such a way that the vehicle camera captures the camera data 18 when the lane is fully illuminated, corresponding to fig. 16, and can output the camera data in a particular manner.

The evaluation unit searches for the camera data of the fully illuminated image on the basis of known symbols as indicative traffic lane facilities (e.g. arrows, signs, warning signs and/or the like) and assigns defined specifications to the camera data as information data, such as left turns, freezing, lane deviations and/or the like. Subsequently, comparison with the database will be explained, and the contradiction points are searched.

Here, the following examples are set forth:

in a tunnel, a right-hand turning arrow is drawn on a lane, however, it is known from traffic stations and signboards that traffic is prohibited.

Since the repair traffic lane lacks a part of the marking, it is known, however, from GPS and previous markings, for example, where the center lane should be located.

A direction specification such as "city center" is applied to the lane, which, however, no longer leads to city center but to suburban area due to traffic diversion.

Due to the engineering work, a yellow marking is applied and a white marking is no longer applicable.

The information on the lane is correct and should be clearly visible.

The evaluation unit now responds dynamically to the lane symbols. For this purpose, the evaluation unit may comprise a program-controlled computer unit. The program may implement the appropriate algorithm. Since the speed of the motor vehicle is known and the position of the symbol or marking can be evaluated with the vehicle camera with high frequency from the images of the image sequence 14, a movement or contour of the symbol or marking that follows the line of sight of the driver is achieved. Unreliable and erroneous information can now be illuminated, changed or dimmed in the remaining or subsequent images. Useful information may be indicated.

Fig. 6 shows an example of application of the invention according to the directional arrow 66 arranged on the lane of the traffic lane. The method according to the invention for controlling the pixel headlights 10, 12 of a motor vehicle located on a traffic lane is used, wherein the pixel headlights 10, 12 output light 40 as a function of a control signal representing the image sequence 14 in order to illuminate the traffic lane at least in places. The respective individual images of the image sequence 14 correspond to the respective light distribution currently to be provided by the pixel headlight 10, 12. The illuminated traffic lane is detected by means of a vehicle camera which provides corresponding camera data 18. In order to obtain the indicative carriageway facility, the camera data 18 are evaluated here with the directional arrow 66 and, depending on the indicative carriageway facility obtained, control signals are provided for controlling the pixel headlights 10, 12.

According to the invention, the image sequence 14 is provided at an image sequence frequency of more than 100 Hz. The image sequence 14 comprises a reference image 16 for uniformly illuminating the traffic lane. To detect the lane of traffic, the vehicle camera is synchronized with respect to reference fig. 16. With respect to fig. 16, the indicative roadway facility and the information data associated with the indicative roadway facility are obtained from the provided camera data 18. The associated information data is compared with the data of the database. A control signal is obtained based on the comparison.

In fig. 6, the reference fig. 16 is shown on the leftmost side. On its lateral right side camera data 18 obtained by means of a vehicle camera with respect to fig. 16 is shown.

The diagrams 74 and 80 relate to the invalidation of the arrow 66 obtained by means of the projection representation provided by the pixel headlight as a light output from one image of the image sequence 14. 74 denotes an image which has been obtained by means of the control signal unit taking into account the evaluation of the camera data 18. And 80, the corresponding illuminated lane. For identification, arrow 66 is not illuminated. Instead, the cross markers 68 are projected in a bright manner. Other areas of the image 74 are illuminated according to a normally preset light distribution. Fig. 80 shows a projection onto a lane. The cross mark 68 is visually well visible. In contrast, the arrow 66 is barely visible.

The other two

illustrations

76, 82 relate to the illuminated arrow 66. For this purpose, an image 76 shown by means of the pixel headlights 10, 12 is obtained from the camera data 18. The corresponding illuminated lane is shown by 82. It can be seen that the lane is illuminated substantially uniformly only, as indicated by reference numeral 70. The arrow 66 is no longer visually discernible.

The other two

illustrations

78, 84 relate to the inclusion of the arrow 66 into the projection. The arrow 66 should be overlapped by an arrow 72 obtained as an actual traffic guide from the data of the database. The corresponding image is indicated at 78. The corresponding illuminated lanes are shown at 84. Only arrow 72 can be seen which completely surrounds arrow 66. Thus, only the arrow 72 is visually visible.

Fig. 7 shows another example of an application of the invention, in particular visually projecting a missing shoulder/side slope. As also in the first case of fig. 6, reference to fig. 16 allows detection of camera data 86 of the lane. In the evaluation, it is shown that a shoulder 92 is shown, wherein, however, the part of the shoulder is missing. With the aid of the evaluated camera data 86, an image 88 for controlling the pixel headlights 10, 12 is obtained. The already recognized markings 92 are bright enough and do not have to be illuminated any further, but rather illuminate the rest of the lane with an average light intensity. The area with the missing shoulder 94 is most strongly illuminated. A continuous shoulder pattern, for example shown at 90, is obtained on the roadway.

Fig. 8 shows a further example of an application of the invention, in particular instead of a lane illustration for guiding traffic. The reference diagram is again shown at 16. The relevant camera data is indicated at 96. In the evaluation, a statement 98 "HOF" is obtained on the lane. Due to the presence in the database, the lane no longer leads to the HOF, but to Munich (MUC), a cover is obtained as image 100, which may darken the description 102 "HOF" and intensively illuminate or project the description 104 "MUC". The impression is created on the lane that only "MUC" is present as an illustration. This is illustrated by a diagram 106 of the lane.

Illumination of unsuitable indicia may also be achieved by means of the present invention. The illumination of the unsuitable marking largely corresponds to the design according to fig. 7, and reference is therefore made to this in a supplementary manner. When evaluating the camera data according to reference fig. 16, a distinction is made according to the color of the marker. If a yellow mark is present, this mark is ignored and the white mark is actively illuminated as in the design according to fig. 7. For the driver, in particular the yellow marking remains visually visible, since the yellow marking is illuminated by the pixel headlights 10, 12, in contrast to the white color.

Fig. 9 shows a further example of an application of the invention, in particular highlighting an indicative roadway facility, here an exclamation point 108 provided on the roadway. The reference diagram is shown again at 16. The relevant camera data is indicated at 106. By evaluating the camera data 106, a marking, here exclamation point 108, is obtained. Further evaluation results in data being present in the database, i.e. exclamation point 108 is correct. Thus trying, the driver's attention is drawn. In the first case, a cover is obtained as image 110 that illuminates the lane, but more strongly illuminates exclamation point 108. This results in highlighting the exclamation point 108 on the lane, which is illustrated by the graph 112. In the second case, an area surrounding exclamation point 108 is created which is darker than the remaining illuminated portion of the lane and by this time is highlighted relative to the remaining lane. The corresponding image to be shown is indicated at 114. In particular, the exclamation mark 108 itself. This produces a strongly illuminated marking with a darker border on the roadway, which is more easily visually detectable by the driver with a high contrast. This is illustrated according to fig. 116.

In general, the exemplary embodiments show how a better illumination of the traffic lane, in particular of the lane guiding the motor vehicle, is achieved by the invention.

The examples are merely illustrative of the invention and should not be construed as limiting the invention.

Claims

1. A method for controlling pixel headlights of a motor vehicle located on a traffic lane, wherein:

-causing the pixel headlamps (10, 12) to output light (40) in accordance with a control signal representing the image sequence (14) to at least partially illuminate the traffic lane, wherein a respective individual image (20, 22) of the image sequence (14) corresponds to a respective light distribution to be currently provided by the pixel headlamps (10, 12),

-detecting an illuminated traffic lane by means of a vehicle camera providing corresponding camera data (18), and

-evaluating the camera data to obtain at least one indicative roadway facility and providing control signals for controlling the pixel headlights (10, 12) depending on the obtained indicative roadway facility,

it is characterized in that the preparation method is characterized in that,

-providing the image sequence (14) with an image sequence frequency greater than 24Hz, wherein the image sequence (14) comprises at least one reference map (16) for uniformly illuminating a traffic lane,

-synchronizing a vehicle camera for detecting a traffic lane with respect to the reference map (16),

-obtaining at least one indicative roadway facility and information data related to the indicative roadway facility from the provided camera data with respect to the reference map (16),

-comparing the relevant information data with data of a database, and

-obtaining a control signal based on said comparison.

2. Method according to claim 1, characterized in that, when the information data differ from the data of the database, the images of the image sequence are obtained such that a road-guiding facility corresponding to the data of the database can be projected in a visually perceptible manner by means of pixel headlights.

3. The method according to claim 2, characterized in that the obtained indicative roadway facility is superimposed at least partially visually and visibly by the projected indicative roadway facility.

4. Method according to any of the preceding claims, characterized in that the obtained indicative roadway facility is at least partially embedded in the projected indicative roadway facility.

5. Method according to one of the preceding claims, characterized in that, when the information data differ from the data of the database, the images of the image sequence are obtained such that the obtained indicative roadway facility is at most partially illuminated.

6. Method according to one of the preceding claims, characterized in that a reference map (16) is provided by means of a reference control signal for controlling the pixel headlights (10, 12).

7. The method according to any one of the preceding claims, characterized in that the image sequence (14) repeatedly comprises reference images (16), wherein successive reference images (16) are temporally spaced from each other by at least 0.5 seconds.

8. Method according to one of the preceding claims, characterized in that a reference map (16) is provided by means of the pixel headlight (10, 12) over a time period of less than 0.033 seconds.

9. A control device for controlling pixel headlights of a motor vehicle located on a traffic lane, the control device having:

-a control signal unit configured to provide control signals for the pixel headlamps (10, 12) representing an image sequence (14) to illuminate a traffic lane of the motor vehicle such that the pixel headlamps (10, 12) output light (40) to illuminate the traffic lane at least locally, wherein respective individual images (20, 22) of the image sequence (14) correspond to respective light distributions to be currently provided by the pixel headlamps (10, 12);

-a receiving unit for receiving camera data (18) of a vehicle camera detecting an illuminated traffic lane and providing the camera data; and

an evaluation unit coupled to the control signal unit and the receiving unit, which evaluation unit evaluates the camera data (18) in order to obtain at least one indicative roadway facility, so that the control signal unit provides a control signal depending on the obtained indicative roadway facility,

it is characterized in that the preparation method is characterized in that,

the control signal unit is also configured such that,

-providing a sequence of images (14) at an image sequence frequency greater than 24Hz, wherein the sequence of images (14) comprises at least one reference map (16) for uniformly illuminating a traffic lane,

-synchronizing a vehicle camera for detecting a traffic lane with respect to a reference map (16), and

the evaluation unit is configured to derive at least one indicative roadway facility and information data relating to the indicative roadway facility from the provided camera data with respect to a reference map (16), and

-comparing the relevant information data with data of a database, and

-the control signal unit is further configured to obtain a control signal based on the comparison.

10. A motor vehicle having a vehicle camera, a pixel headlight (10, 12) and a control device for controlling the pixel headlight (10, 12), characterized in that the control device is designed according to claim 9.